mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
Almost Ready for Denver (im actually tweaking out of my mind please help me)
This commit is contained in:
Abhishrek05
@@ -21,7 +21,9 @@ import edu.wpi.first.wpilibj2.command.WaitCommand;
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import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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import frc4388.robot.Constants.IntakeConstants;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.Constants.ShooterConstants;
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import frc4388.robot.commands.Autos.AutoAlign;
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import frc4388.robot.commands.Autos.PlaybackChooser;
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import frc4388.robot.commands.Swerve.JoystickPlayback;
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@@ -145,7 +147,7 @@ public class RobotContainer {
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private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotIntake.ampPosition()),
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new InstantCommand(() -> m_robotIntake.ampShoot(0.1)) //TODO: Find Actual Speed
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new InstantCommand(() -> m_robotIntake.ampOuttake(0.1)) //TODO: Find Actual Speed
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);
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// ! /* Autos */
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@@ -367,18 +369,18 @@ public class RobotContainer {
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true)));
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// ! /* Auto Recording */
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new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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() -> autoplaybackName.get()))
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.onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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// () -> autoplaybackName.get()))
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// .onFalse(new InstantCommand());
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new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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() -> autoplaybackName.get(),
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, false))
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.onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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// () -> autoplaybackName.get(),
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false))
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// .onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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@@ -393,18 +395,24 @@ public class RobotContainer {
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// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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// .onFalse(new InstantCommand());
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// ! /* Speed */
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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.whileTrue(new InstantCommand(() ->
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m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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new Translation2d(0, 0),
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true), m_robotSwerveDrive));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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// .whileTrue(new InstantCommand(() ->
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// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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// new Translation2d(0, 0),
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// true), m_robotSwerveDrive));
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//? /* Operator Buttons */
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@@ -427,14 +435,14 @@ public class RobotContainer {
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// Override Intake Position encoder: out
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new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-59), m_robotIntake));
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake));
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// Override Intake Position encoder: in
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new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
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.onFalse(turnOffShoot);
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@@ -462,12 +470,7 @@ public class RobotContainer {
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
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}
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@@ -508,7 +511,7 @@ public class RobotContainer {
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// Override Intake Position encoder: out
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new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-59), m_robotIntake));
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
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// Override Intake Position encoder: in
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new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
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@@ -516,7 +519,7 @@ public class RobotContainer {
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new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
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.onFalse(turnOffShoot.asProxy());
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@@ -543,11 +546,11 @@ public class RobotContainer {
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*/
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public Command getAutonomousCommand() {
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//no auto
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// return new neoJoystickPlayback(m_robotSwerveDrive,
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// "2note.auto",
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false);
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return playbackChooser.getCommand();
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return new neoJoystickPlayback(m_robotSwerveDrive,
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() -> autoplaybackName.get(),
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, false);
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//return playbackChooser.getCommand();
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}
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/**
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